KR20020041261A

KR20020041261A - Smart hybrid damper

Info

Publication number: KR20020041261A
Application number: KR1020000071087A
Authority: KR
Inventors: 강성덕
Original assignee: 강성덕
Priority date: 2000-11-27
Filing date: 2000-11-27
Publication date: 2002-06-01
Also published as: WO2002042659A2; WO2002042659A3; AU2002218562A1

Abstract

PURPOSE: A smart hybrid damper is provided to protect a structure or a machine from external impact or vibration and damp the vibration with high reliability and safety. CONSTITUTION: A smart hybrid damper includes a motor or a generator(1) for manual, active or semi-active control, a circular disc type rotary inertia mass(2), a ball screw(4) for converting rectilinear motion to rotation motion and vice versa, a ball nut(5), a telescoping rod(6), a support cylinder(7), and a multi-purpose electric circuit(3).

Description

Smart hybrid damper

본 발명은 구조 설계상 볼 스크류·너트 메커니즘을 이용한 볼 스크류 액추에이터(actuator)식 진동저감장치이다. 기존의 진동저감장치나 충격흡수장치는 직선운동을 회전운동으로 혹은 회전운동을 직선운동으로 효율적으로 원활하게 변환할 수 있는 볼 스크류·너트 메커니즘을 결합한 와류형 댐퍼(eddy current damper), 전자기식 액추에이터(actuator), 또는 관성형 충격흡수장치(inertia damper)의 형태로 각각 설계되어 왔다. 이에 관련된 종래의 기술로는 미국특허공고 제 5,775,469호, 미국특허공고 제 5,348,124호, 독일특허공고 제 3,522,221호에서 공개된 것이 있다.The present invention is a ball screw actuator vibration reduction device using a ball screw nut mechanism in the structural design. Conventional vibration reducing devices or shock absorbers are eddy current dampers and electromagnetic actuators that combine ball screw and nut mechanisms to efficiently convert linear motion into rotary motion or linear motion efficiently. Each has been designed in the form of an actuator or an inertia damper. Conventional techniques related to this are disclosed in US Patent Publication No. 5,775,469, US Patent Publication No. 5,348,124, and German Patent Publication No. 3,522,221.

본 발명은 전기 실린더형 충격흡수장치와 관성형 충격흡수장치가 가지고 있는 각각의 다른 진동·충격 흡수 방식을 하나의 장치로 간단하게 결합하여 관성력 토크(inertia torque)와 역기전력 토크(back e.m.f. torque)를 동시에 이용하는 혼합형(hybrid) 진동저감장치를 구현하는 것이다.The present invention simply combines the different vibration and shock absorption methods of the electric cylinder type shock absorber and the inertial type shock absorber into one device to achieve inertia torque and back emf torque. It is to implement a hybrid vibration reduction device used at the same time.

본 발명은 충격흡수 또는 능동제어 중 한 가지 목적에만 쓸 수 있는 기존의 장치들과는 달리 하나의 장치로 충격흡수(수동제어), 준 능동제어 및 능동제어 등 복합기능을 갖춘 다목적 전자기계장치로서 응용 특성 및 방법에 따라 전자회로를 이용 저렴한 비용으로 다양한 기능을 쉽게 수행할 수 있도록 설계된 것이 특징이다.The present invention is a multi-purpose electromechanical apparatus having a complex function such as shock absorption (passive control), quasi-active control, and active control as one device, unlike existing devices that can be used only for one purpose of shock absorption or active control. And it is characterized in that it is designed to easily perform a variety of functions at low cost by using an electronic circuit according to the method.

본 발명은 외부로부터의 충격이나 진동에 의한 진동저감장치의 선형운동이 볼 스크류(4)·너트(5)를 통해 원반형 회전식 관성질량(2)과 모터 또는 발전기(1)를 동시에 빠른 회전운동으로 구동시킬 때 관성질량(2)의 회전에 의해 발생된 회전 관성력(inertia force)과 모터 또는 발전기(2)에서 발생되는 역기전력 (back e.m.f.)이 동시에 진동·충격 흡수력으로 작용하여 외부 진동·충격을 자동적으로 흡수하고 시스템의 진동을 억제한다.According to the present invention, the linear motion of the vibration reducing device due to the impact or vibration from the outside causes the disk-type rotary inertial mass (2) and the motor or generator (1) to be simultaneously rotated rapidly through the ball screw (4) and nut (5). When driven, the rotational inertia force generated by the rotation of the inertial mass 2 and the back emf generated by the motor or the generator 2 simultaneously act as vibration and shock absorbing forces to automatically control external vibration and shock. Absorbs and suppresses vibration of the system.

본 발명에 있어서, 스마트 하이브리드 진동저감장치는 구조면에서 다음의 네 가지 주요 부품으로 구성된다. 첫째, 수동제어(passive control) 및 능동제어(active control)를 위한 영구자석식 모터(motor) 또는 발전기(1), 둘째, 원반형 회전식 관성질량(inertia mass)(2), 셋째, 직선운동을 회전운동으로 혹은 회전운동을 직선운동으로 효율적으로 원활하게 변환할 수 있는 볼스크류(ball screw) (4)·볼 너트(ball nut)(5) 또는 유사기능의 부품(Acme screw) 구조의 결합인 텔리스코핑(telescoping) 메커니즘(mechanism)(6, 7), 넷째, 모터 또는 발전기(1)에 연결되는 다목적용 전자회로 (load resistive variable circuit, semi-active control circuit, active control circuit)(3)로 구성되어 있다.In the present invention, the smart hybrid vibration reduction device is composed of the following four main parts in terms of structure. Firstly, a permanent magnet motor or generator (1) for passive control and active control, secondly, a disk-shaped inertia mass (2), and thirdly, a linear motion. Telescoping, which is a combination of a ball screw (4), a ball nut (5), or an acme screw structure that can efficiently or smoothly convert rotational motion into linear motion. (telescoping) mechanism (6, 7), and fourth, a load resistive variable circuit, semi-active control circuit, active control circuit (3) connected to the motor or generator (1). have.

본 발명은 전자기계식 선형운동형 충격흡수장치로서 관성질량(inertia mass)(2)을 제외하면, 변위나 속도제어를 위한 능동제어식 전기 실린더(electric cylinder), 또는 액추에이터(linear actuator)와 구조상 일견 유사하나 그 기능과 작동 원리는 근본적으로 다르다.The present invention is an electromechanical linear motion shock absorber except for the inertia mass (2), which is similar in structure to an active-controlled electric cylinder or actuator for controlling displacement or speed. However, its function and principle of operation are fundamentally different.

본 발명은 외부로부터의 충격이나 진동에 의한 진동저감장치의 선형운동이 볼 스크류(ball screw)(4)·너트(ball nut)(5)를 통해 원반형 회전식 관성질량(inertia mass)(2)과 모터 또는 발전기(1)를 동시에 빠른 회전운동으로 구동시킬 때 관성질량(inertia mass)(2)의 회전에 의해 발생된 회전 관성력(inertia force)과 모터(motor) 또는 발전기(1)에서 발생되는 역기전력(back e.m.f.)이 동시에 진동·충격 흡수력으로 작용하여 외부 진동·충격을 자동적으로 흡수하고 시스템의 진동을 억제한다.According to the present invention, the linear motion of the vibration reducing device due to the impact or vibration from the outside is controlled by a disk-shaped inertia mass (2) through a ball screw (4) and a nut (5). Rotational inertia force generated by the rotation of the inertia mass 2 and back electromotive force generated by the motor or the generator 1 when the motor or the generator 1 is driven at a rapid rotational motion simultaneously. (back emf) acts as a vibration and shock absorbing force at the same time to automatically absorb external vibration and impact and suppress the vibration of the system

특히, 충격흡수(damping mode) 또는 능동제어(active control) 중 한가지 목적에만 쓸 수 있는 기존의 장치들과는 달리, 하나의 장치로 수동제어(passive control), 준 능동제어(semi-active control) 및 능동제어(active control) 등 복합기능을 갖춘 다목적 기계장치로 간단한 전자회로(3)를 이용 저렴한 비용으로 다양한 기능을 쉽게 수행할 수 있도록 고안된 것이 그 특징이다.In particular, unlike conventional devices that can only be used for one purpose, either shock absorbing mode or active control, passive control, semi-active control, and active as one device It is a multipurpose mechanical device with a complex function such as active control, and is designed to easily perform various functions at low cost by using a simple electronic circuit (3).

본 발명의 스마트 하이브리드 진동저감장치(smart hybrid damper)는 구조면에서 다음의 네 가지 주요 부품으로 구성된다. 첫째, 수동제어 및 능동제어를 위한 영구자석식 모터(motor) 또는 발전기(1), 둘째, 원반형 회전식 관성 질량(inertiamass)(2), 셋째, 직선운동을 회전운동으로 혹은 회전운동을 직선운동으로 효율적으로 원활하게 변환할 수 있는 볼 스크류(ball screw) (4)·볼 너트(ball nut)(5) 또는 유사기능의 부품(Acme screw)구조의 결합인 텔리스코핑(telescoping) 메커니즘으로(6, 7), 넷째, 모터 또는 발전기(1)에 연결되는 다목적용 전자회로(load resistive variable circuit, semi-active control circuit, active control circuit)(3)로 구성되어 있다.The smart hybrid damper of the present invention is composed of the following four main components in terms of structure. First, permanent magnet motor or generator (1) for passive and active control, second, disk-shaped inertiamass (2), and third, linear motion as rotational motion or rotational motion as linear motion. With a telescoping mechanism, which is a combination of a ball screw (4), a ball nut (5) or an acme screw structure that can be converted smoothly (6, 7) ), And fourth, a load resistive variable circuit (semi-active control circuit, active control circuit) (3) connected to the motor or generator (1).

도 1에 예시된 바와 같이, 볼 너트(ball nut)(5)는 텔리스코핑 축(telescoping rod)(6)에 부착되어 볼 스크류(4)의 홈을 따라 좌우로 선형운동을 하며, 바깥 고정용 지지 실린더(support cylinder)(7)안에 자리잡고 있다.As illustrated in FIG. 1, a ball nut 5 is attached to a telescoping rod 6 to linearly move from side to side along the groove of the ball screw 4, for external fixing. It is located in the support cylinder (7).

볼 너트(ball nut)(5)의 선형운동에 의해 시계방향 또는 반시계 방향으로 회전하는 볼 스크류(ball screw)(4)는 한쪽 부분이 베어링(thrust bearing}(8)에 의해 지지되고 지지된 볼 스크류(ball screw)(4)의 하단 부분은 회전형 관성질량(inertia mass)(2)과 결합되어 관성질량의 회전축을 이루며 그 끝 부분은 모터 또는 발전기(1)의 회전축에 직접 직선으로(in-line) 연결되거나 커플링 또는 유사부품에 의해 연결되어 볼 스크류(ball screw)(4)의 회전 시 관성질량(inertia mass)(2)과 모터 또는 발전기(1)를 동시에 빠른 속도로 회전시킨다.The ball screw 4, which rotates clockwise or counterclockwise by the linear motion of the ball nut 5, has one side supported and supported by a thrust bearing 8. The lower part of the ball screw (4) is combined with a rotating inertia mass (2) to form the axis of rotation of the inertial mass, the end of which is in a straight line directly to the axis of rotation of the motor or generator (1). connected in-line or by couplings or similar parts to simultaneously rotate the inertia mass (2) and the motor or generator (1) at high speed during the rotation of the ball screw (4) .

모터 또는 발전기(1)와 회전형 관성질량(inertia mass)(2)은 케이스(case) 내에 장착되고 모터(motor) 또는 발전기(1)는 그 케이스의 지지부분에 고정·부착된다.The motor or generator 1 and the rotary inertia mass 2 are mounted in a case, and the motor or generator 1 is fixed and attached to the support of the case.

다목적용 전자회로(load resistive variable circuit, semi-active controlcircuit, active control circuit)(3)는 모터(motor) 또는 발전기(1)에 연결된다.A load resistive variable circuit (semi-active control circuit, active control circuit) 3 is connected to a motor or generator 1.

도 1에서 보는 바와 같이, 수동제어식 진동·충격흡수운전 모드(mode)에서 본 발명의 작동은 외부로부터의 충격이나 진동으로 텔리스코핑 축(telescoping rod)(6)의 선형운동이 볼 스크류(ball screw)(4)와 너트(ball nut)(5)를 통해 원반형 회전식 관성질량(inertia mass)(2)과 모터(motor) 또는 발전기(1)를 동시에 빠른 회전운동으로 구동시킨다.As shown in Fig. 1, in the manually controlled vibration and shock absorption operation mode, the linear motion of the telescoping rod 6 is caused by the impact or vibration from the outside. 4) and a nut (5) to drive the disc-shaped inertia mass (2) and the motor (motor) or generator (1) at the same time rapid rotational movement.

이때 관성질량(inertia mass)(2)의 회전에 의해 발생된 회전 관성력(inertia force)과 모터(motor) 또는 발전기(1)에서 발생되는 역기전력(back e.m.f.)이 충격흡수력으로 작용하여 외부 충격을 자동적으로 흡수하고 시스템의 진동을 억제한다.At this time, the rotational inertia force generated by the rotation of the inertia mass 2 and the back emf generated by the motor or the generator 1 act as the shock absorbing force to automatically generate an external shock. Absorbs and suppresses vibration of the system.

이상에서 상술한 바와 같이 본 발명은, 하나의 기계장치로 수동제어(충격흡수), 준 능동제어 및 능동제어 등 다양한 기능을 할 수 있는 다목적 진동저감장치이다.As described above, the present invention is a multi-purpose vibration reduction device capable of various functions such as passive control (shock absorption), quasi-active control, and active control in one machine.

수동제어식 진동·충격흡수운전 모드(mode)에서, 외부로부터의 충격이나 진동으로 관성질량(inertia mass)(2)의 회전에 의해 발생된 회전관성력(inertia force)과 모터 또는 발전기(1)에서 발생되는 역기전력(back e.m.f.)이 동시에(함께) 충격흡수력으로 작용하여 외부 충격을 자동적으로 흡수하고 시스템의 진동을 억제한다.In the manually controlled vibration / shock absorption operation mode, the inertia force generated by the rotation of the inertia mass 2 due to the impact or vibration from the outside and the motor or generator 1 are generated. The back emf acts simultaneously (together) as a shock absorbing force, automatically absorbing external shocks and suppressing system vibrations.

위에서 언급된 수동제어 모드(mode)에서, 응용시스템의 특성에 따라서 관성질량(inertia mass)(2)과 모터(motor) 또는 발전기(1)에 연결된 외부저항을 각각동시에 조정함으로써 최적의 진동제어(optimal damping control) 효과를 얻을 수 있다.In the manual control mode mentioned above, the optimum vibration control is achieved by simultaneously adjusting the inertia mass 2 and the external resistance connected to the motor or generator 1 according to the characteristics of the application system. optimal damping control effect.

또한, 응용 시스템에 요구되는 총 진동·충격흡수력 설계에 있어서, 관성질량(inertia mass)(2)을 크게 또는 작게 함으로써 모터(1)의 역기전력을 가감할 수 있으며, 그 결과로 모터의 크기에 따른 설계상의 어려움을 대폭 줄일 수 있으며 진동저감장치의 제작비 또한 크게 줄일 수 있다.In addition, in the design of the total vibration and shock absorbing power required for the application system, by increasing or decreasing the inertia mass 2, the counter electromotive force of the motor 1 can be added or subtracted, and as a result, The design difficulty can be greatly reduced, and the manufacturing cost of the vibration reduction device can be greatly reduced.

Claims

The smart hybrid damper consists of four main components in structure: first, permanent magnet motors for passive and active control, or generators (1), or rotary eddy current dampers, and secondly. , Disc-shaped rotary inertial mass (2), third, ball screw (4), ball nut (5) or similar function (Acme) capable of smoothly and efficiently converting linear motion into rotary motion or linear motion into linear motion. Telescoping mechanisms (6, 7), which are combinations of screw structures, and fourth, load resistive variable circuits, semi-active control circuits, and active control connected to the motor or generator (1). circuit) and in the assembly and arrangement of each component,

(A) A ball nut (5) is attached to a telescoping rod (6) to move linearly from side to side along the groove of the ball screw (4) and to support the outer fixing cylinder. It is located in (7)

(B) The ball screw 4, which rotates clockwise or counterclockwise by the linear movement of the ball nut 5, is supported by one of the bearings (8). The lower end of the supported and supported ball screw (4) is combined with a rotating inertia mass (2) to form an axis of rotation of the inertia mass, the end of which is directly connected to the axis of rotation of the motor or generator (1). Connected in-line or by couplings or similar parts to rotate the inertiamass (2) and the motor or power generation (1) at high speed simultaneously when rotating the ball screw (4) And

(C) The motor or generator (1) and the rotary inertia mass (2) are mounted in a case, and the motor or generator (1) is fixed and attached to the support of the case.

(D) Load resistive variable circuits, semi-active control circuits and active control circuits 3 are connected to the motor or generator 1;

The method of claim 1, wherein the operation of the smart hybrid vibration reduction device in the manually controlled shock absorbing operation mode is such that the linear motion of the device due to external shock or vibration causes the disk rotary inertial mass and the motor or generator to pass through the ball screw and nut. At the same time, when driven by fast rotational movement, the rotational inertia generated by the rotation of the inertia mass and the counter electromotive force generated by the motor or generator act as shock absorbing force to automatically absorb external shocks and suppress the vibration of the system.

3. The magnitude of the inertial mass according to claim 2, wherein the inertial force due to rotation of the inertial mass is proportional to the acceleration, and the magnitude of the inertial mass is varied according to the characteristics of the system to be applied as an exercise resistance force generated by a change in the acceleration of the system. do.

3. The characteristic of the back EMF generated by the motor is proportional to the speed, such as viscousfluid, the damping coefficient being the electrical characteristic coefficients of the motor or generator, the external resistance connected, and the ball screw. The magnitude of the shock absorbing force depends on the magnitude of the damping constant and the system's vibration frequency, and the amount of back EMF can be changed by adjusting only the external resistance connected to the motor without structural design changes. It is possible to obtain shock absorbers of various sizes without particular limitations in the design.

3. The method of claim 2, wherein the operating principle of the motor is used as a motor generator, and the shock or vibration energy is dissipated as heat in a variable resistance, or resistive load of the connected electronic circuit 3 or the charging device Is converted into electrical energy.

3. The optimum vibration control according to claim 2, wherein the manual control mode simultaneously adjusts the inertia mass 2 and the external resistance of the electronic circuit connected to the motor or the generator 1 in accordance with the characteristics of the application system. damping control effect can be obtained, and the counter electromotive force of the motor 1 can be added or decreased by increasing or decreasing the inertia mass 2 in the design of the total vibration and shock absorbing power of the vibration reducing device required for the application system. As a result, the design difficulty according to the size of the motor can be greatly reduced, and the manufacturing cost of the vibration reduction device can be greatly reduced.